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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pri-types">Private 类型</a> &#124;
<a href="#pri-methods">Private 成员函数</a> &#124;
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<div class="title">pcl::CropHull&lt; PointT &gt; 模板类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1_filter.html" title="Filter represents the base filter class. All filters must inherit from this interface.">Filter</a> points that lie inside or outside a 3D closed surface or 2D closed polygon, as generated by the ConvexHull or ConcaveHull classes.  
 <a href="classpcl_1_1_crop_hull.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="crop__hull_8h_source.html">crop_hull.h</a>&gt;</code></p>
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类 pcl::CropHull&lt; PointT &gt; 继承关系图:</div>
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<area href="classpcl_1_1_filter.html" title="Filter represents the base filter class. All filters must inherit from this interface." alt="pcl::Filter&lt; PointT &gt;" shape="rect" coords="0,56,163,80"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:aae786115b05b5767daef2441f8ec4386"><td class="memItemLeft" align="right" valign="top"><a id="aae786115b05b5767daef2441f8ec4386"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_crop_hull.html">CropHull</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:aae786115b05b5767daef2441f8ec4386"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad364a0df087848f22651d07589e42f35"><td class="memItemLeft" align="right" valign="top"><a id="ad364a0df087848f22651d07589e42f35"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_crop_hull.html">CropHull</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_filter_indices"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_filter_indices')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_filter_indices.html">pcl::FilterIndices&lt; PointT &gt;</a></td></tr>
<tr class="memitem:afa28de19aa0b9e1586e67f3cf7d51c52 inherit pub_types_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top"><a id="afa28de19aa0b9e1586e67f3cf7d51c52"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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<tr class="memitem:ac15dfea019e277e78911673477404fda inherit pub_types_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top"><a id="ac15dfea019e277e78911673477404fda"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_filter_indices.html">FilterIndices</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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<tr class="memitem:a243068e6e2c9fbcfecc7154b7cc7606d inherit pub_types_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top"><a id="a243068e6e2c9fbcfecc7154b7cc7606d"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_filter_indices.html">FilterIndices</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a243068e6e2c9fbcfecc7154b7cc7606d inherit pub_types_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a719a1ef5a8fc3b7f4a651a8bae51571b inherit pub_types_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a719a1ef5a8fc3b7f4a651a8bae51571b"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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<tr class="memitem:a01b992cf70e997979d7f653226a60ddd inherit pub_types_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a01b992cf70e997979d7f653226a60ddd"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="memitem:a4f1d68bbc5f1f6b852b48b95e4673cfb inherit pub_types_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a4f1d68bbc5f1f6b852b48b95e4673cfb"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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<tr class="memitem:a5796101c9166820fac3a5ca961bde255 inherit pub_types_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a5796101c9166820fac3a5ca961bde255"></a>
typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
<tr class="separator:a5796101c9166820fac3a5ca961bde255 inherit pub_types_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae2f6f6863a73337858b7a7a054eaae4f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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<tr class="memitem:ae51eae0c7b3e0b7178f4894dff90660a inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae51eae0c7b3e0b7178f4894dff90660a"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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<tr class="memitem:a51771056fb4ab8c448a11157acbe2ee0 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a51771056fb4ab8c448a11157acbe2ee0"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const  &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a7e26f529126976a5b64569df59425f96"><td class="memItemLeft" align="right" valign="top"><a id="a7e26f529126976a5b64569df59425f96"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_crop_hull.html#a7e26f529126976a5b64569df59425f96">CropHull</a> ()</td></tr>
<tr class="memdesc:a7e26f529126976a5b64569df59425f96"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty Constructor. <br /></td></tr>
<tr class="separator:a7e26f529126976a5b64569df59425f96"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3c63533ebb2616c80b8d3be974bed21d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_crop_hull.html#a3c63533ebb2616c80b8d3be974bed21d">setHullIndices</a> (const std::vector&lt; <a class="el" href="structpcl_1_1_vertices.html">Vertices</a> &gt; &amp;polygons)</td></tr>
<tr class="memdesc:a3c63533ebb2616c80b8d3be974bed21d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the vertices of the hull used to filter points.  <a href="classpcl_1_1_crop_hull.html#a3c63533ebb2616c80b8d3be974bed21d">更多...</a><br /></td></tr>
<tr class="separator:a3c63533ebb2616c80b8d3be974bed21d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab4146ec017d60ce4b877f272ad7dc8fc"><td class="memItemLeft" align="right" valign="top"><a id="ab4146ec017d60ce4b877f272ad7dc8fc"></a>
std::vector&lt; <a class="el" href="structpcl_1_1_vertices.html">Vertices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_crop_hull.html#ab4146ec017d60ce4b877f272ad7dc8fc">getHullIndices</a> () const</td></tr>
<tr class="memdesc:ab4146ec017d60ce4b877f272ad7dc8fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the vertices of the hull used to filter points. <br /></td></tr>
<tr class="separator:ab4146ec017d60ce4b877f272ad7dc8fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae27a19a6f98c77de3b2b635efea43200"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_crop_hull.html#ae27a19a6f98c77de3b2b635efea43200">setHullCloud</a> (PointCloudPtr points)</td></tr>
<tr class="memdesc:ae27a19a6f98c77de3b2b635efea43200"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the point cloud that the hull indices refer to  <a href="classpcl_1_1_crop_hull.html#ae27a19a6f98c77de3b2b635efea43200">更多...</a><br /></td></tr>
<tr class="separator:ae27a19a6f98c77de3b2b635efea43200"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af337f4d2fdcd4480d6128c331df24caf"><td class="memItemLeft" align="right" valign="top"><a id="af337f4d2fdcd4480d6128c331df24caf"></a>
PointCloudPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_crop_hull.html#af337f4d2fdcd4480d6128c331df24caf">getHullCloud</a> () const</td></tr>
<tr class="memdesc:af337f4d2fdcd4480d6128c331df24caf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the point cloud that the hull indices refer to. <br /></td></tr>
<tr class="separator:af337f4d2fdcd4480d6128c331df24caf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab7ad2c24b6bb5a077adb5fc830e3750c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_crop_hull.html#ab7ad2c24b6bb5a077adb5fc830e3750c">setDim</a> (int dim)</td></tr>
<tr class="memdesc:ab7ad2c24b6bb5a077adb5fc830e3750c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the dimensionality of the hull to be used. This should be set to correspond to the dimensionality of the convex/concave hull produced by the pcl::ConvexHull and pcl::ConcaveHull classes.  <a href="classpcl_1_1_crop_hull.html#ab7ad2c24b6bb5a077adb5fc830e3750c">更多...</a><br /></td></tr>
<tr class="separator:ab7ad2c24b6bb5a077adb5fc830e3750c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6b2775c447e7239b034858a249d11cef"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_crop_hull.html#a6b2775c447e7239b034858a249d11cef">setCropOutside</a> (bool crop_outside)</td></tr>
<tr class="memdesc:a6b2775c447e7239b034858a249d11cef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove points outside the hull (default), or those inside the hull.  <a href="classpcl_1_1_crop_hull.html#a6b2775c447e7239b034858a249d11cef">更多...</a><br /></td></tr>
<tr class="separator:a6b2775c447e7239b034858a249d11cef"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_filter_indices"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_filter_indices')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_filter_indices.html">pcl::FilterIndices&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a72c8696f1bc2e4a6e92172371a45d592 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a72c8696f1bc2e4a6e92172371a45d592">FilterIndices</a> (bool extract_removed_indices=false)</td></tr>
<tr class="memdesc:a72c8696f1bc2e4a6e92172371a45d592 inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="classpcl_1_1_filter_indices.html#a72c8696f1bc2e4a6e92172371a45d592">更多...</a><br /></td></tr>
<tr class="separator:a72c8696f1bc2e4a6e92172371a45d592 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad2713c94212077eed36018718a6a11f2 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top"><a id="ad2713c94212077eed36018718a6a11f2"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#ad2713c94212077eed36018718a6a11f2">~FilterIndices</a> ()</td></tr>
<tr class="memdesc:ad2713c94212077eed36018718a6a11f2 inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty virtual destructor. <br /></td></tr>
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<tr class="memitem:a007e834bf929cb9da0aabb17036bff31 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top"><a id="a007e834bf929cb9da0aabb17036bff31"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>filter</b> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</td></tr>
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<tr class="memitem:abbbfa3686df4bdb6cd333a182180970d inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#abbbfa3686df4bdb6cd333a182180970d">filter</a> (std::vector&lt; int &gt; &amp;indices)</td></tr>
<tr class="memdesc:abbbfa3686df4bdb6cd333a182180970d inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calls the filtering method and returns the filtered point cloud indices.  <a href="classpcl_1_1_filter_indices.html#abbbfa3686df4bdb6cd333a182180970d">更多...</a><br /></td></tr>
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<tr class="memitem:a8da0b86892188e59b0deb8d420a682bb inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a8da0b86892188e59b0deb8d420a682bb">setNegative</a> (bool negative)</td></tr>
<tr class="memdesc:a8da0b86892188e59b0deb8d420a682bb inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set whether the regular conditions for points filtering should apply, or the inverted conditions.  <a href="classpcl_1_1_filter_indices.html#a8da0b86892188e59b0deb8d420a682bb">更多...</a><br /></td></tr>
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<tr class="memitem:ae596b8085f72489035f63aa26904f2b3 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#ae596b8085f72489035f63aa26904f2b3">getNegative</a> ()</td></tr>
<tr class="memdesc:ae596b8085f72489035f63aa26904f2b3 inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get whether the regular conditions for points filtering should apply, or the inverted conditions.  <a href="classpcl_1_1_filter_indices.html#ae596b8085f72489035f63aa26904f2b3">更多...</a><br /></td></tr>
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<tr class="memitem:a21eb00357056c0cc432cd03afa84d08c inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a21eb00357056c0cc432cd03afa84d08c">setKeepOrganized</a> (bool keep_organized)</td></tr>
<tr class="memdesc:a21eb00357056c0cc432cd03afa84d08c inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set whether the filtered points should be kept and set to the value given through <em>setUserFilterValue</em> (default: NaN), or removed from the <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>, thus potentially breaking its organized structure.  <a href="classpcl_1_1_filter_indices.html#a21eb00357056c0cc432cd03afa84d08c">更多...</a><br /></td></tr>
<tr class="separator:a21eb00357056c0cc432cd03afa84d08c inherit pub_methods_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9448e925e369d96824a1b333903ddfe2 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a9448e925e369d96824a1b333903ddfe2">getKeepOrganized</a> ()</td></tr>
<tr class="memdesc:a9448e925e369d96824a1b333903ddfe2 inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get whether the filtered points should be kept and set to the value given through <em>setUserFilterValue</em> (default = NaN), or removed from the <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>, thus potentially breaking its organized structure.  <a href="classpcl_1_1_filter_indices.html#a9448e925e369d96824a1b333903ddfe2">更多...</a><br /></td></tr>
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<tr class="memitem:a9456a457b18c28b8dd6b07e970c16eba inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a9456a457b18c28b8dd6b07e970c16eba">setUserFilterValue</a> (float value)</td></tr>
<tr class="memdesc:a9456a457b18c28b8dd6b07e970c16eba inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a value that the filtered points should be set to instead of removing them. Used in conjunction with <em>setKeepOrganized</em> ().  <a href="classpcl_1_1_filter_indices.html#a9456a457b18c28b8dd6b07e970c16eba">更多...</a><br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:af31e766a9092a766962f42005c1b84a4 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#af31e766a9092a766962f42005c1b84a4">Filter</a> (bool extract_removed_indices=false)</td></tr>
<tr class="memdesc:af31e766a9092a766962f42005c1b84a4 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor.  <a href="classpcl_1_1_filter.html#af31e766a9092a766962f42005c1b84a4">更多...</a><br /></td></tr>
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<tr class="memitem:a11163e4d01519df900e6144f705f6980 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a11163e4d01519df900e6144f705f6980"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a11163e4d01519df900e6144f705f6980">~Filter</a> ()</td></tr>
<tr class="memdesc:a11163e4d01519df900e6144f705f6980 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
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<tr class="memitem:ae451ce8a0981e8589812d4f3b135a335 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="ae451ce8a0981e8589812d4f3b135a335"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#ae451ce8a0981e8589812d4f3b135a335">getRemovedIndices</a> ()</td></tr>
<tr class="memdesc:ae451ce8a0981e8589812d4f3b135a335 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the point indices being removed <br /></td></tr>
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<tr class="memitem:add67775d121c2dd536d3306ef447431e inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#add67775d121c2dd536d3306ef447431e">getRemovedIndices</a> (<a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &amp;pi)</td></tr>
<tr class="memdesc:add67775d121c2dd536d3306ef447431e inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the point indices being removed  <a href="classpcl_1_1_filter.html#add67775d121c2dd536d3306ef447431e">更多...</a><br /></td></tr>
<tr class="separator:add67775d121c2dd536d3306ef447431e inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a17115897ca28f6b12950d023958aa641 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">filter</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</td></tr>
<tr class="memdesc:a17115897ca28f6b12950d023958aa641 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calls the filtering method and returns the filtered dataset in output.  <a href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">更多...</a><br /></td></tr>
<tr class="separator:a17115897ca28f6b12950d023958aa641 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
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<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
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<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
<tr class="separator:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
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<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
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<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
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<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
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<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:ad7f780126b5234d570a3518c03505daf"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_crop_hull.html#ad7f780126b5234d570a3518c03505daf">applyFilter</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</td></tr>
<tr class="memdesc:ad7f780126b5234d570a3518c03505daf"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1_filter.html" title="Filter represents the base filter class. All filters must inherit from this interface.">Filter</a> the input points using the 2D or 3D polygon hull.  <a href="classpcl_1_1_crop_hull.html#ad7f780126b5234d570a3518c03505daf">更多...</a><br /></td></tr>
<tr class="separator:ad7f780126b5234d570a3518c03505daf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2dbae13b6e8b81e4f902d3751fd46ee3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_crop_hull.html#a2dbae13b6e8b81e4f902d3751fd46ee3">applyFilter</a> (std::vector&lt; int &gt; &amp;indices)</td></tr>
<tr class="memdesc:a2dbae13b6e8b81e4f902d3751fd46ee3"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1_filter.html" title="Filter represents the base filter class. All filters must inherit from this interface.">Filter</a> the input points using the 2D or 3D polygon hull.  <a href="classpcl_1_1_crop_hull.html#a2dbae13b6e8b81e4f902d3751fd46ee3">更多...</a><br /></td></tr>
<tr class="separator:a2dbae13b6e8b81e4f902d3751fd46ee3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a71040236d2c11da75b715d6d6bf5ba9d inherit pro_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a71040236d2c11da75b715d6d6bf5ba9d"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a71040236d2c11da75b715d6d6bf5ba9d">getClassName</a> () const</td></tr>
<tr class="memdesc:a71040236d2c11da75b715d6d6bf5ba9d inherit pro_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:a71040236d2c11da75b715d6d6bf5ba9d inherit pro_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
<tr class="separator:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-types"></a>
Private 类型</h2></td></tr>
<tr class="memitem:a137aa09a769697ce5054c924db675c32"><td class="memItemLeft" align="right" valign="top"><a id="a137aa09a769697ce5054c924db675c32"></a>
typedef <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:a137aa09a769697ce5054c924db675c32"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aab749d5d1d13450ed93d1f10f2cfdf3f"><td class="memItemLeft" align="right" valign="top"><a id="aab749d5d1d13450ed93d1f10f2cfdf3f"></a>
typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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<tr class="memitem:ade70b86bf26aac44adf8c0c7c9a2d2b4"><td class="memItemLeft" align="right" valign="top"><a id="ade70b86bf26aac44adf8c0c7c9a2d2b4"></a>
typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private 成员函数</h2></td></tr>
<tr class="memitem:ab99d1e5a1adfa0531a9ae006b31a90e3"><td class="memItemLeft" align="right" valign="top"><a id="ab99d1e5a1adfa0531a9ae006b31a90e3"></a>
Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_crop_hull.html#ab99d1e5a1adfa0531a9ae006b31a90e3">getHullCloudRange</a> ()</td></tr>
<tr class="memdesc:ab99d1e5a1adfa0531a9ae006b31a90e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the size of the hull point cloud in line with coordinate axes. This is used to choose the 2D projection to use when cropping to a 2d polygon. <br /></td></tr>
<tr class="separator:ab99d1e5a1adfa0531a9ae006b31a90e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aacadc8037882866f5bea37fe65c5ae7c"><td class="memTemplParams" colspan="2">template&lt;unsigned PlaneDim1, unsigned PlaneDim2&gt; </td></tr>
<tr class="memitem:aacadc8037882866f5bea37fe65c5ae7c"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_crop_hull.html#aacadc8037882866f5bea37fe65c5ae7c">applyFilter2D</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</td></tr>
<tr class="memdesc:aacadc8037882866f5bea37fe65c5ae7c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply the two-dimensional hull filter. All points are assumed to lie in the same plane as the 2D hull, an axis-aligned 2D coordinate system using the two dimensions specified (PlaneDim1, PlaneDim2) is used for calculations.  <a href="classpcl_1_1_crop_hull.html#aacadc8037882866f5bea37fe65c5ae7c">更多...</a><br /></td></tr>
<tr class="separator:aacadc8037882866f5bea37fe65c5ae7c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adad085a9bed1e92b5ce8e8370fae86e3"><td class="memTemplParams" colspan="2">template&lt;unsigned PlaneDim1, unsigned PlaneDim2&gt; </td></tr>
<tr class="memitem:adad085a9bed1e92b5ce8e8370fae86e3"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_crop_hull.html#adad085a9bed1e92b5ce8e8370fae86e3">applyFilter2D</a> (std::vector&lt; int &gt; &amp;indices)</td></tr>
<tr class="memdesc:adad085a9bed1e92b5ce8e8370fae86e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply the two-dimensional hull filter. All points are assumed to lie in the same plane as the 2D hull, an axis-aligned 2D coordinate system using the two dimensions specified (PlaneDim1, PlaneDim2) is used for calculations.  <a href="classpcl_1_1_crop_hull.html#adad085a9bed1e92b5ce8e8370fae86e3">更多...</a><br /></td></tr>
<tr class="separator:adad085a9bed1e92b5ce8e8370fae86e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a525892182b50e5a5e3f23c77306efd78"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_crop_hull.html#a525892182b50e5a5e3f23c77306efd78">applyFilter3D</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</td></tr>
<tr class="memdesc:a525892182b50e5a5e3f23c77306efd78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply the three-dimensional hull filter. Polygon-ray crossings are used for three rays cast from each point being tested, and a majority vote of the resulting polygon-crossings is used to decide whether the point lies inside or outside the hull.  <a href="classpcl_1_1_crop_hull.html#a525892182b50e5a5e3f23c77306efd78">更多...</a><br /></td></tr>
<tr class="separator:a525892182b50e5a5e3f23c77306efd78"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afbc92b9b92f3ce59b80202bb38d1c438"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_crop_hull.html#afbc92b9b92f3ce59b80202bb38d1c438">applyFilter3D</a> (std::vector&lt; int &gt; &amp;indices)</td></tr>
<tr class="memdesc:afbc92b9b92f3ce59b80202bb38d1c438"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply the three-dimensional hull filter. Polygon-ray crossings are used for three rays cast from each point being tested, and a majority vote of the resulting polygon-crossings is used to decide whether the point lies inside or outside the hull.  <a href="classpcl_1_1_crop_hull.html#afbc92b9b92f3ce59b80202bb38d1c438">更多...</a><br /></td></tr>
<tr class="separator:afbc92b9b92f3ce59b80202bb38d1c438"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-static-methods"></a>
静态 Private 成员函数</h2></td></tr>
<tr class="memitem:a3769f23d102d738d3da4716d0c112613"><td class="memTemplParams" colspan="2">template&lt;unsigned PlaneDim1, unsigned PlaneDim2&gt; </td></tr>
<tr class="memitem:a3769f23d102d738d3da4716d0c112613"><td class="memTemplItemLeft" align="right" valign="top">static bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_crop_hull.html#a3769f23d102d738d3da4716d0c112613">isPointIn2DPolyWithVertIndices</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, const <a class="el" href="structpcl_1_1_vertices.html">Vertices</a> &amp;verts, const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud)</td></tr>
<tr class="memdesc:a3769f23d102d738d3da4716d0c112613"><td class="mdescLeft">&#160;</td><td class="mdescRight">Test an individual point against a 2D polygon. PlaneDim1 and PlaneDim2 specify the x/y/z coordinate axes to use.  <a href="classpcl_1_1_crop_hull.html#a3769f23d102d738d3da4716d0c112613">更多...</a><br /></td></tr>
<tr class="separator:a3769f23d102d738d3da4716d0c112613"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6ea5ecd6192de48ed9441debee1496a0"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_crop_hull.html#a6ea5ecd6192de48ed9441debee1496a0">rayTriangleIntersect</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, const Eigen::Vector3f &amp;ray, const <a class="el" href="structpcl_1_1_vertices.html">Vertices</a> &amp;verts, const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud)</td></tr>
<tr class="memdesc:a6ea5ecd6192de48ed9441debee1496a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Does a ray cast from a point intersect with an arbitrary triangle in 3D? See: <a href="http://softsurfer.com/Archive/algorithm_0105/algorithm_0105.htm#intersect_RayTriangle()">http://softsurfer.com/Archive/algorithm_0105/algorithm_0105.htm#intersect_RayTriangle()</a>  <a href="classpcl_1_1_crop_hull.html#a6ea5ecd6192de48ed9441debee1496a0">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:ae28100afaac7293eafe7b04d8cf66f07"><td class="memItemLeft" align="right" valign="top"><a id="ae28100afaac7293eafe7b04d8cf66f07"></a>
std::vector&lt; <a class="el" href="structpcl_1_1_vertices.html">pcl::Vertices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_crop_hull.html#ae28100afaac7293eafe7b04d8cf66f07">hull_polygons_</a></td></tr>
<tr class="memdesc:ae28100afaac7293eafe7b04d8cf66f07"><td class="mdescLeft">&#160;</td><td class="mdescRight">The vertices of the hull used to filter points. <br /></td></tr>
<tr class="separator:ae28100afaac7293eafe7b04d8cf66f07"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa98d8fdefc2b0a54de423bcdd9a88ded"><td class="memItemLeft" align="right" valign="top"><a id="aa98d8fdefc2b0a54de423bcdd9a88ded"></a>
PointCloudPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_crop_hull.html#aa98d8fdefc2b0a54de423bcdd9a88ded">hull_cloud_</a></td></tr>
<tr class="memdesc:aa98d8fdefc2b0a54de423bcdd9a88ded"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point cloud that the hull indices refer to. <br /></td></tr>
<tr class="separator:aa98d8fdefc2b0a54de423bcdd9a88ded"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a095b8d21805e8895db22bdacc507f781"><td class="memItemLeft" align="right" valign="top"><a id="a095b8d21805e8895db22bdacc507f781"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_crop_hull.html#a095b8d21805e8895db22bdacc507f781">dim_</a></td></tr>
<tr class="memdesc:a095b8d21805e8895db22bdacc507f781"><td class="mdescLeft">&#160;</td><td class="mdescRight">The dimensionality of the hull to be used. <br /></td></tr>
<tr class="separator:a095b8d21805e8895db22bdacc507f781"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a197a92d9cf412524f5b44b38618024f8"><td class="memItemLeft" align="right" valign="top"><a id="a197a92d9cf412524f5b44b38618024f8"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_crop_hull.html#a197a92d9cf412524f5b44b38618024f8">crop_outside_</a></td></tr>
<tr class="memdesc:a197a92d9cf412524f5b44b38618024f8"><td class="mdescLeft">&#160;</td><td class="mdescRight">If true, the filter will remove points outside the hull. If false, those inside will be removed. <br /></td></tr>
<tr class="separator:a197a92d9cf412524f5b44b38618024f8"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_filter_indices"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_filter_indices')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_filter_indices.html">pcl::FilterIndices&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a97854d723ea58d2aa7706db0d086a90f inherit pro_attribs_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top"><a id="a97854d723ea58d2aa7706db0d086a90f"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a97854d723ea58d2aa7706db0d086a90f">negative_</a></td></tr>
<tr class="memdesc:a97854d723ea58d2aa7706db0d086a90f inherit pro_attribs_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">False = normal filter behavior (default), true = inverted behavior. <br /></td></tr>
<tr class="separator:a97854d723ea58d2aa7706db0d086a90f inherit pro_attribs_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a45e39a4237dfff1735294cacc243a918 inherit pro_attribs_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top"><a id="a45e39a4237dfff1735294cacc243a918"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a45e39a4237dfff1735294cacc243a918">keep_organized_</a></td></tr>
<tr class="memdesc:a45e39a4237dfff1735294cacc243a918 inherit pro_attribs_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">False = remove points (default), true = redefine points, keep structure. <br /></td></tr>
<tr class="separator:a45e39a4237dfff1735294cacc243a918 inherit pro_attribs_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a009090d4cb34cb01d5906b3d7e12c5db inherit pro_attribs_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top"><a id="a009090d4cb34cb01d5906b3d7e12c5db"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a009090d4cb34cb01d5906b3d7e12c5db">user_filter_value_</a></td></tr>
<tr class="memdesc:a009090d4cb34cb01d5906b3d7e12c5db inherit pro_attribs_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">The user given value that the filtered point dimensions should be set to (default = NaN). <br /></td></tr>
<tr class="separator:a009090d4cb34cb01d5906b3d7e12c5db inherit pro_attribs_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ae83ccb695ed263cfc64c224210a31936 inherit pro_attribs_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="ae83ccb695ed263cfc64c224210a31936"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#ae83ccb695ed263cfc64c224210a31936">removed_indices_</a></td></tr>
<tr class="memdesc:ae83ccb695ed263cfc64c224210a31936 inherit pro_attribs_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indices of the points that are removed <br /></td></tr>
<tr class="separator:ae83ccb695ed263cfc64c224210a31936 inherit pro_attribs_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad700c7ab56dc82ad8811b87e9f793751 inherit pro_attribs_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="ad700c7ab56dc82ad8811b87e9f793751"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">filter_name_</a></td></tr>
<tr class="memdesc:ad700c7ab56dc82ad8811b87e9f793751 inherit pro_attribs_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">The filter name. <br /></td></tr>
<tr class="separator:ad700c7ab56dc82ad8811b87e9f793751 inherit pro_attribs_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a77b899631add791703f5d615f085bede inherit pro_attribs_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a77b899631add791703f5d615f085bede"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a77b899631add791703f5d615f085bede">extract_removed_indices_</a></td></tr>
<tr class="memdesc:a77b899631add791703f5d615f085bede inherit pro_attribs_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if we want to return the indices of the removed points. <br /></td></tr>
<tr class="separator:a77b899631add791703f5d615f085bede inherit pro_attribs_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
<tr class="separator:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
<tr class="separator:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ada1eadb824d34ca9206a86343d9760bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
<tr class="separator:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. <br /></td></tr>
<tr class="separator:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::CropHull&lt; PointT &gt;</h3>

<p><a class="el" href="classpcl_1_1_filter.html" title="Filter represents the base filter class. All filters must inherit from this interface.">Filter</a> points that lie inside or outside a 3D closed surface or 2D closed polygon, as generated by the ConvexHull or ConcaveHull classes. </p>
<dl class="section author"><dt>作者</dt><dd>James Crosby </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="ad7f780126b5234d570a3518c03505daf"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad7f780126b5234d570a3518c03505daf">&#9670;&nbsp;</a></span>applyFilter() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_crop_hull.html">pcl::CropHull</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::applyFilter </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p><a class="el" href="classpcl_1_1_filter.html" title="Filter represents the base filter class. All filters must inherit from this interface.">Filter</a> the input points using the 2D or 3D polygon hull. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td>The set of points that passed the filter </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1_filter_indices.html#afd98aa5b5e30e42d81ede249aada8fc9">pcl::FilterIndices&lt; PointT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_crop_hull.html#a095b8d21805e8895db22bdacc507f781">dim_</a> == 2)</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  {</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="comment">// in this case we are assuming all the points lie in the same plane as the</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="comment">// 2D convex hull, so the choice of projection just changes the</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="comment">// conditioning of the problem: choose to squash the XYZ component of the</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="comment">// hull-points that has least variation - this will also give reasonable</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="comment">// results if the points don&#39;t lie exactly in the same plane</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">const</span> Eigen::Vector3f range = <a class="code" href="classpcl_1_1_crop_hull.html#ab99d1e5a1adfa0531a9ae006b31a90e3">getHullCloudRange</a> ();</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordflow">if</span> (range[0] &lt;= range[1] &amp;&amp; range[0] &lt;= range[2])</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      applyFilter2D&lt;1,2&gt; (output);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (range[1] &lt;= range[2] &amp;&amp; range[1] &lt;= range[0])</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      applyFilter2D&lt;2,0&gt; (output);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      applyFilter2D&lt;0,1&gt; (output);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  }</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <a class="code" href="classpcl_1_1_crop_hull.html#a525892182b50e5a5e3f23c77306efd78">applyFilter3D</a> (output);</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  }</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_crop_hull_html_a095b8d21805e8895db22bdacc507f781"><div class="ttname"><a href="classpcl_1_1_crop_hull.html#a095b8d21805e8895db22bdacc507f781">pcl::CropHull::dim_</a></div><div class="ttdeci">int dim_</div><div class="ttdoc">The dimensionality of the hull to be used.</div><div class="ttdef"><b>Definition:</b> crop_hull.h:229</div></div>
<div class="ttc" id="aclasspcl_1_1_crop_hull_html_a525892182b50e5a5e3f23c77306efd78"><div class="ttname"><a href="classpcl_1_1_crop_hull.html#a525892182b50e5a5e3f23c77306efd78">pcl::CropHull::applyFilter3D</a></div><div class="ttdeci">void applyFilter3D(PointCloud &amp;output)</div><div class="ttdoc">Apply the three-dimensional hull filter. Polygon-ray crossings are used for three rays cast from each...</div><div class="ttdef"><b>Definition:</b> crop_hull.hpp:175</div></div>
<div class="ttc" id="aclasspcl_1_1_crop_hull_html_ab99d1e5a1adfa0531a9ae006b31a90e3"><div class="ttname"><a href="classpcl_1_1_crop_hull.html#ab99d1e5a1adfa0531a9ae006b31a90e3">pcl::CropHull::getHullCloudRange</a></div><div class="ttdeci">Eigen::Vector3f getHullCloudRange()</div><div class="ttdoc">Return the size of the hull point cloud in line with coordinate axes. This is used to choose the 2D p...</div><div class="ttdef"><b>Definition:</b> crop_hull.hpp:95</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a2dbae13b6e8b81e4f902d3751fd46ee3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2dbae13b6e8b81e4f902d3751fd46ee3">&#9670;&nbsp;</a></span>applyFilter() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_crop_hull.html">pcl::CropHull</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::applyFilter </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p><a class="el" href="classpcl_1_1_filter.html" title="Filter represents the base filter class. All filters must inherit from this interface.">Filter</a> the input points using the 2D or 3D polygon hull. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">indices</td><td>the indices of the set of points that passed the filter. </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1_filter_indices.html#a96adbc8e3d7a076cc00a938260160466">pcl::FilterIndices&lt; PointT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;{</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_crop_hull.html#a095b8d21805e8895db22bdacc507f781">dim_</a> == 2)</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="comment">// in this case we are assuming all the points lie in the same plane as the</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="comment">// 2D convex hull, so the choice of projection just changes the</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="comment">// conditioning of the problem: choose to squash the XYZ component of the</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="comment">// hull-points that has least variation - this will also give reasonable</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="comment">// results if the points don&#39;t lie exactly in the same plane</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keyword">const</span> Eigen::Vector3f range = <a class="code" href="classpcl_1_1_crop_hull.html#ab99d1e5a1adfa0531a9ae006b31a90e3">getHullCloudRange</a> ();</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordflow">if</span> (range[0] &lt;= range[1] &amp;&amp; range[0] &lt;= range[2])</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      applyFilter2D&lt;1,2&gt; (indices);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (range[1] &lt;= range[2] &amp;&amp; range[1] &lt;= range[0])</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      applyFilter2D&lt;2,0&gt; (indices);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      applyFilter2D&lt;0,1&gt; (indices);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  }</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  {</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <a class="code" href="classpcl_1_1_crop_hull.html#a525892182b50e5a5e3f23c77306efd78">applyFilter3D</a> (indices);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;}</div>
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</div>
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<a id="aacadc8037882866f5bea37fe65c5ae7c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aacadc8037882866f5bea37fe65c5ae7c">&#9670;&nbsp;</a></span>applyFilter2D() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<div class="memtemplate">
template&lt;unsigned PlaneDim1, unsigned PlaneDim2&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_crop_hull.html">pcl::CropHull</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::applyFilter2D </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">private</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Apply the two-dimensional hull filter. All points are assumed to lie in the same plane as the 2D hull, an axis-aligned 2D coordinate system using the two dimensions specified (PlaneDim1, PlaneDim2) is used for calculations. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td>The set of points that pass the 2D polygon filter. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;{</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> index = 0; index &lt; <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;size (); index++)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="comment">// iterate over polygons faster than points because we expect this data</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="comment">// to be, in general, more cache-local - the point cloud might be huge</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordtype">size_t</span> poly;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keywordflow">for</span> (poly = 0; poly &lt; <a class="code" href="classpcl_1_1_crop_hull.html#ae28100afaac7293eafe7b04d8cf66f07">hull_polygons_</a>.size (); poly++)</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    {</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keywordflow">if</span> (isPointIn2DPolyWithVertIndices&lt;PlaneDim1,PlaneDim2&gt; (</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;              <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>)[index]], <a class="code" href="classpcl_1_1_crop_hull.html#ae28100afaac7293eafe7b04d8cf66f07">hull_polygons_</a>[poly], *<a class="code" href="classpcl_1_1_crop_hull.html#aa98d8fdefc2b0a54de423bcdd9a88ded">hull_cloud_</a></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;         ))</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      {</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_crop_hull.html#a197a92d9cf412524f5b44b38618024f8">crop_outside_</a>)</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;          output.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>)[index]]);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <span class="comment">// once a point has tested +ve for being inside one polygon, we can</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <span class="comment">// stop checking the others:</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="comment">// If we&#39;re removing points *inside* the hull, only remove points that</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="comment">// haven&#39;t been found inside any polygons</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keywordflow">if</span> (poly == <a class="code" href="classpcl_1_1_crop_hull.html#ae28100afaac7293eafe7b04d8cf66f07">hull_polygons_</a>.size () &amp;&amp; !<a class="code" href="classpcl_1_1_crop_hull.html#a197a92d9cf412524f5b44b38618024f8">crop_outside_</a>)</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>)[index]]);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_crop_hull_html_a197a92d9cf412524f5b44b38618024f8"><div class="ttname"><a href="classpcl_1_1_crop_hull.html#a197a92d9cf412524f5b44b38618024f8">pcl::CropHull::crop_outside_</a></div><div class="ttdeci">bool crop_outside_</div><div class="ttdoc">If true, the filter will remove points outside the hull. If false, those inside will be removed.</div><div class="ttdef"><b>Definition:</b> crop_hull.h:234</div></div>
<div class="ttc" id="aclasspcl_1_1_crop_hull_html_aa98d8fdefc2b0a54de423bcdd9a88ded"><div class="ttname"><a href="classpcl_1_1_crop_hull.html#aa98d8fdefc2b0a54de423bcdd9a88ded">pcl::CropHull::hull_cloud_</a></div><div class="ttdeci">PointCloudPtr hull_cloud_</div><div class="ttdoc">The point cloud that the hull indices refer to.</div><div class="ttdef"><b>Definition:</b> crop_hull.h:226</div></div>
<div class="ttc" id="aclasspcl_1_1_crop_hull_html_ae28100afaac7293eafe7b04d8cf66f07"><div class="ttname"><a href="classpcl_1_1_crop_hull.html#ae28100afaac7293eafe7b04d8cf66f07">pcl::CropHull::hull_polygons_</a></div><div class="ttdeci">std::vector&lt; pcl::Vertices &gt; hull_polygons_</div><div class="ttdoc">The vertices of the hull used to filter points.</div><div class="ttdef"><b>Definition:</b> crop_hull.h:223</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_aaee847c8a517ebf365bad2cb182a6626"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">pcl::PCLBase::indices_</a></div><div class="ttdeci">IndicesPtr indices_</div><div class="ttdoc">A pointer to the vector of point indices to use.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:153</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a0b4d7abee110e47d90635eb042488bb4"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">pcl::PointCloud::push_back</a></div><div class="ttdeci">void push_back(const PointT &amp;pt)</div><div class="ttdoc">Insert a new point in the cloud, at the end of the container.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:480</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="adad085a9bed1e92b5ce8e8370fae86e3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#adad085a9bed1e92b5ce8e8370fae86e3">&#9670;&nbsp;</a></span>applyFilter2D() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<div class="memtemplate">
template&lt;unsigned PlaneDim1, unsigned PlaneDim2&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_crop_hull.html">pcl::CropHull</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::applyFilter2D </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">private</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Apply the two-dimensional hull filter. All points are assumed to lie in the same plane as the 2D hull, an axis-aligned 2D coordinate system using the two dimensions specified (PlaneDim1, PlaneDim2) is used for calculations. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">indices</td><td>The indices of the set of points that pass the 2D polygon filter. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;{</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="comment">// see comments in (PointCloud&amp; output) overload</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> index = 0; index &lt; <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;size (); index++)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keywordtype">size_t</span> poly;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="keywordflow">for</span> (poly = 0; poly &lt; <a class="code" href="classpcl_1_1_crop_hull.html#ae28100afaac7293eafe7b04d8cf66f07">hull_polygons_</a>.size (); poly++)</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    {</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="keywordflow">if</span> (isPointIn2DPolyWithVertIndices&lt;PlaneDim1,PlaneDim2&gt; (</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;              <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>)[index]], <a class="code" href="classpcl_1_1_crop_hull.html#ae28100afaac7293eafe7b04d8cf66f07">hull_polygons_</a>[poly], *<a class="code" href="classpcl_1_1_crop_hull.html#aa98d8fdefc2b0a54de423bcdd9a88ded">hull_cloud_</a></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;         ))</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      {</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_crop_hull.html#a197a92d9cf412524f5b44b38618024f8">crop_outside_</a>)      </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;          indices.push_back ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>)[index]);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      }</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keywordflow">if</span> (poly == <a class="code" href="classpcl_1_1_crop_hull.html#ae28100afaac7293eafe7b04d8cf66f07">hull_polygons_</a>.size () &amp;&amp; !<a class="code" href="classpcl_1_1_crop_hull.html#a197a92d9cf412524f5b44b38618024f8">crop_outside_</a>)</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      indices.push_back ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>)[index]);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  }</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;}</div>
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<a id="a525892182b50e5a5e3f23c77306efd78"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a525892182b50e5a5e3f23c77306efd78">&#9670;&nbsp;</a></span>applyFilter3D() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_crop_hull.html">pcl::CropHull</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::applyFilter3D </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">private</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Apply the three-dimensional hull filter. Polygon-ray crossings are used for three rays cast from each point being tested, and a majority vote of the resulting polygon-crossings is used to decide whether the point lies inside or outside the hull. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td>The set of points that pass the 3D polygon hull filter. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;{</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="comment">// This algorithm could definitely be sped up using kdtree/octree</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <span class="comment">// information, if that is available!</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> index = 0; index &lt; <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;size (); index++)</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="comment">// test ray-crossings for three random rays, and take vote of crossings</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="comment">// counts to determine if each point is inside the hull: the vote avoids</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="comment">// tricky edge and corner cases when rays might fluke through the edge</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="comment">// between two polygons</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="comment">// &#39;random&#39; rays are arbitrary - basically anything that is less likely to</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="comment">// hit the edge between polygons than coordinate-axis aligned rays would</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="comment">// be.</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <span class="keywordtype">size_t</span> crossings[3] = {0,0,0};</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    Eigen::Vector3f rays[3] = </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    {</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      Eigen::Vector3f (0.264882f,  0.688399f, 0.675237f),</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      Eigen::Vector3f (0.0145419f, 0.732901f, 0.68018f),</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      Eigen::Vector3f (0.856514f,  0.508771f, 0.0868081f)</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    };</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> poly = 0; poly &lt; <a class="code" href="classpcl_1_1_crop_hull.html#ae28100afaac7293eafe7b04d8cf66f07">hull_polygons_</a>.size (); poly++)</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> ray = 0; ray &lt; 3; ray++)</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        crossings[ray] += <a class="code" href="classpcl_1_1_crop_hull.html#a6ea5ecd6192de48ed9441debee1496a0">rayTriangleIntersect</a></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;          (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>)[index]], rays[ray], <a class="code" href="classpcl_1_1_crop_hull.html#ae28100afaac7293eafe7b04d8cf66f07">hull_polygons_</a>[poly], *<a class="code" href="classpcl_1_1_crop_hull.html#aa98d8fdefc2b0a54de423bcdd9a88ded">hull_cloud_</a>);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_crop_hull.html#a197a92d9cf412524f5b44b38618024f8">crop_outside_</a> &amp;&amp; (crossings[0]&amp;1) + (crossings[1]&amp;1) + (crossings[2]&amp;1) &gt; 1)</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>)[index]]);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_crop_hull.html#a197a92d9cf412524f5b44b38618024f8">crop_outside_</a>)</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>)[index]]);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  }</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_crop_hull_html_a6ea5ecd6192de48ed9441debee1496a0"><div class="ttname"><a href="classpcl_1_1_crop_hull.html#a6ea5ecd6192de48ed9441debee1496a0">pcl::CropHull::rayTriangleIntersect</a></div><div class="ttdeci">static bool rayTriangleIntersect(const PointT &amp;point, const Eigen::Vector3f &amp;ray, const Vertices &amp;verts, const PointCloud &amp;cloud)</div><div class="ttdoc">Does a ray cast from a point intersect with an arbitrary triangle in 3D? See: http://softsurfer....</div><div class="ttdef"><b>Definition:</b> crop_hull.hpp:280</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#afbc92b9b92f3ce59b80202bb38d1c438">&#9670;&nbsp;</a></span>applyFilter3D() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_crop_hull.html">pcl::CropHull</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::applyFilter3D </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">private</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Apply the three-dimensional hull filter. Polygon-ray crossings are used for three rays cast from each point being tested, and a majority vote of the resulting polygon-crossings is used to decide whether the point lies inside or outside the hull. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">indices</td><td>The indices of the set of points that pass the 3D polygon hull filter. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;{</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  <span class="comment">// see comments in applyFilter3D (PointCloud&amp; output)</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> index = 0; index &lt; <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;size (); index++)</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  {</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keywordtype">size_t</span> crossings[3] = {0,0,0};</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    Eigen::Vector3f rays[3] = </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    {</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      Eigen::Vector3f(0.264882f,  0.688399f, 0.675237f),</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      Eigen::Vector3f(0.0145419f, 0.732901f, 0.68018f),</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      Eigen::Vector3f(0.856514f,  0.508771f, 0.0868081f)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    };</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> poly = 0; poly &lt; <a class="code" href="classpcl_1_1_crop_hull.html#ae28100afaac7293eafe7b04d8cf66f07">hull_polygons_</a>.size (); poly++)</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> ray = 0; ray &lt; 3; ray++)</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        crossings[ray] += <a class="code" href="classpcl_1_1_crop_hull.html#a6ea5ecd6192de48ed9441debee1496a0">rayTriangleIntersect</a></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;          (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>)[index]], rays[ray], <a class="code" href="classpcl_1_1_crop_hull.html#ae28100afaac7293eafe7b04d8cf66f07">hull_polygons_</a>[poly], *<a class="code" href="classpcl_1_1_crop_hull.html#aa98d8fdefc2b0a54de423bcdd9a88ded">hull_cloud_</a>);</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_crop_hull.html#a197a92d9cf412524f5b44b38618024f8">crop_outside_</a> &amp;&amp; (crossings[0]&amp;1) + (crossings[1]&amp;1) + (crossings[2]&amp;1) &gt; 1)</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      indices.push_back ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>)[index]);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_crop_hull.html#a197a92d9cf412524f5b44b38618024f8">crop_outside_</a>)</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      indices.push_back ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>)[index]);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  }</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a3769f23d102d738d3da4716d0c112613">&#9670;&nbsp;</a></span>isPointIn2DPolyWithVertIndices()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<div class="memtemplate">
template&lt;unsigned PlaneDim1, unsigned PlaneDim2&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1_crop_hull.html">pcl::CropHull</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::isPointIn2DPolyWithVertIndices </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>point</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_vertices.html">Vertices</a> &amp;&#160;</td>
          <td class="paramname"><em>verts</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span><span class="mlabel">private</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Test an individual point against a 2D polygon. PlaneDim1 and PlaneDim2 specify the x/y/z coordinate axes to use. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point</td><td>Point to test against the polygon. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">verts</td><td>Vertex indices of polygon. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td><a class="el" href="class_cloud.html" title="A wrapper which allows to use any implementation of cloud provided by a third-party library.">Cloud</a> from which the vertex indices are drawn. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;{</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <span class="keywordtype">bool</span> in_poly = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  <span class="keywordtype">double</span> x1, x2, y1, y2;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> nr_poly_points = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(verts.vertices.size ());</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  <span class="keywordtype">double</span> xold = cloud[verts.vertices[nr_poly_points - 1]].getVector3fMap ()[PlaneDim1];</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  <span class="keywordtype">double</span> yold = cloud[verts.vertices[nr_poly_points - 1]].getVector3fMap ()[PlaneDim2];</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nr_poly_points; i++)</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  {</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> xnew = cloud[verts.vertices[i]].getVector3fMap ()[PlaneDim1];</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> ynew = cloud[verts.vertices[i]].getVector3fMap ()[PlaneDim2];</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    <span class="keywordflow">if</span> (xnew &gt; xold)</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    {</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      x1 = xold;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      x2 = xnew;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      y1 = yold;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      y2 = ynew;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    }</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    {</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      x1 = xnew;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      x2 = xold;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      y1 = ynew;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      y2 = yold;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    }</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    <span class="keywordflow">if</span> ((xnew &lt; point.getVector3fMap ()[PlaneDim1]) == (point.getVector3fMap ()[PlaneDim1] &lt;= xold) &amp;&amp;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        (point.getVector3fMap ()[PlaneDim2] - y1) * (x2 - x1) &lt; (y2 - y1) * (point.getVector3fMap ()[PlaneDim1] - x1))</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    {</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      in_poly = !in_poly;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    }</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    xold = xnew;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    yold = ynew;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  }</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  <span class="keywordflow">return</span> (in_poly);</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a6ea5ecd6192de48ed9441debee1496a0">&#9670;&nbsp;</a></span>rayTriangleIntersect()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1_crop_hull.html">pcl::CropHull</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::rayTriangleIntersect </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>point</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>ray</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_vertices.html">Vertices</a> &amp;&#160;</td>
          <td class="paramname"><em>verts</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span><span class="mlabel">private</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Does a ray cast from a point intersect with an arbitrary triangle in 3D? See: <a href="http://softsurfer.com/Archive/algorithm_0105/algorithm_0105.htm#intersect_RayTriangle()">http://softsurfer.com/Archive/algorithm_0105/algorithm_0105.htm#intersect_RayTriangle()</a> </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point</td><td>Point from which the ray is cast. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">ray</td><td>Vector in direction of ray. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">verts</td><td>Indices of vertices making the polygon. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td><a class="el" href="class_cloud.html" title="A wrapper which allows to use any implementation of cloud provided by a third-party library.">Cloud</a> from which the vertex indices are drawn. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;{</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  <span class="comment">// Algorithm here is adapted from:</span></div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  <span class="comment">// http://softsurfer.com/Archive/algorithm_0105/algorithm_0105.htm#intersect_RayTriangle()</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  <span class="comment">//</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  <span class="comment">// Original copyright notice:</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  <span class="comment">// Copyright 2001, softSurfer (www.softsurfer.com)</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  <span class="comment">// This code may be freely used and modified for any purpose</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="comment">// providing that this copyright notice is included with it.</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  <span class="comment">//</span></div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  assert (verts.vertices.size () == 3);</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f p = point.getVector3fMap ();</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f a = cloud[verts.vertices[0]].getVector3fMap ();</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f b = cloud[verts.vertices[1]].getVector3fMap ();</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f c = cloud[verts.vertices[2]].getVector3fMap ();</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f u = b - a;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f v = c - a;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f n = u.cross (v);</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> n_dot_ray = n.dot (ray);</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  <span class="keywordflow">if</span> (std::fabs (n_dot_ray) &lt; 1e-9)</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> r = n.dot (a - p) / n_dot_ray;</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160; </div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  <span class="keywordflow">if</span> (r &lt; 0)</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f w = p + r * ray - a;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> denominator = u.dot (v) * u.dot (v) - u.dot (u) * v.dot (v);</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> s_numerator = u.dot (v) * w.dot (v) - v.dot (v) * w.dot (u);</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> s = s_numerator / denominator;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  <span class="keywordflow">if</span> (s &lt; 0 || s &gt; 1)</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> t_numerator = u.dot (v) * w.dot (u) - u.dot (u) * w.dot (v);</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> t = t_numerator / denominator;</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  <span class="keywordflow">if</span> (t &lt; 0 || s+t &gt; 1)</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  </div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a6b2775c447e7239b034858a249d11cef">&#9670;&nbsp;</a></span>setCropOutside()</h2>

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<div class="memproto">
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template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_crop_hull.html">pcl::CropHull</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setCropOutside </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>crop_outside</em></td><td>)</td>
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<p>Remove points outside the hull (default), or those inside the hull. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">crop_outside</td><td>If true, the filter will remove points outside the hull. If false, those inside will be removed. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      {</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <a class="code" href="classpcl_1_1_crop_hull.html#a197a92d9cf412524f5b44b38618024f8">crop_outside_</a> = crop_outside;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ab7ad2c24b6bb5a077adb5fc830e3750c">&#9670;&nbsp;</a></span>setDim()</h2>

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<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_crop_hull.html">pcl::CropHull</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setDim </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>dim</em></td><td>)</td>
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<p>Set the dimensionality of the hull to be used. This should be set to correspond to the dimensionality of the convex/concave hull produced by the pcl::ConvexHull and pcl::ConcaveHull classes. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">dim</td><td>Dimensionailty of the hull used to filter points. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      {</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <a class="code" href="classpcl_1_1_crop_hull.html#a095b8d21805e8895db22bdacc507f781">dim_</a> = dim;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ae27a19a6f98c77de3b2b635efea43200">&#9670;&nbsp;</a></span>setHullCloud()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
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  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_crop_hull.html">pcl::CropHull</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setHullCloud </td>
          <td>(</td>
          <td class="paramtype">PointCloudPtr&#160;</td>
          <td class="paramname"><em>points</em></td><td>)</td>
          <td></td>
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<p>Set the point cloud that the hull indices refer to </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">points</td><td>the point cloud that the hull indices refer to </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      {</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <a class="code" href="classpcl_1_1_crop_hull.html#aa98d8fdefc2b0a54de423bcdd9a88ded">hull_cloud_</a> = points;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      }</div>
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<a id="a3c63533ebb2616c80b8d3be974bed21d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3c63533ebb2616c80b8d3be974bed21d">&#9670;&nbsp;</a></span>setHullIndices()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
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      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_crop_hull.html">pcl::CropHull</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setHullIndices </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; <a class="el" href="structpcl_1_1_vertices.html">Vertices</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>polygons</em></td><td>)</td>
          <td></td>
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<p>Set the vertices of the hull used to filter points. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">polygons</td><td>Vector of polygons (<a class="el" href="structpcl_1_1_vertices.html" title="Describes a set of vertices in a polygon mesh, by basically storing an array of indices.">Vertices</a> structures) forming the hull used for filtering points. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <a class="code" href="classpcl_1_1_crop_hull.html#ae28100afaac7293eafe7b04d8cf66f07">hull_polygons_</a> = polygons;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>filters/include/pcl/filters/<a class="el" href="crop__hull_8h_source.html">crop_hull.h</a></li>
<li>filters/include/pcl/filters/impl/<a class="el" href="crop__hull_8hpp_source.html">crop_hull.hpp</a></li>
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